From the paper: "We have empirically demonstrated that CNNs are able to learn the entire task of lane and road following without manual decomposition into road or lane marking detection, semantic abstraction, path planning, and control. A small amount of training data from less than a hundred hours of driving was sufficient to train the car to operate in diverse conditions, on highways, local and residential roads in sunny, cloudy, and rainy conditions. The CNN is able to learn meaningful road features from a very sparse training signal (steering alone)"
Wow!